A New Method of Force Control for Unknown Environments

摘要

Current robotic systems are expected to interact with unknown environment where controlling the interaction forces becomes an important issue. We propose a new control technique for force control on unknown environments that tunes the force controller based on online estimation of the environment parameters. However, the proposed approach overcomes the need for precise estimation of environment parameters, which are needed in many system identification-based force control approaches. This framework uses an artificial neural network (ANN)-based proportional-integral (PI)-gain scheduling force controller to track the desired force by adjusting control gains such that error in parameter estimation can be accommodated. Experimental results are presented to demonstrate the efficacy of the proposed control framework. Finally, the advantages and limitations of the proposed controller are discussed.